Using camera Intel RealSense D435i as camera tracking

[lycn2020]

Hello,
I am using on the last month jetson nano with Intel RealSense Tracking Camera T265 and CUAV v5+ on my quad drone for using it as Navigation when GPS signal not found or loss for some time using "vision_position_estimate" message that send it to Ardupilot via mavlink protocol and I found this error " T265: VISO jump detected" .
Now I want to use Jetson AGX Xavier with Intel RealSense D435i as camera tracking to work as Intel RealSense Tracking Camera T265 and to give me position estimate data.
How I can do it? any one help me .
Thank you for your help!